Home   >   CSC-OpenAccess Library   >    Manuscript Information
Attitude Estimation And Compensation In Odometric Localization of Mobile Robot Using Low Cost IMU
Jharna Majumdar, Sandeep Kumar Malu, Min Raj Nepali
Pages - 1 - 14     |    Revised - 10-08-2014     |    Published - 15-09-2014
Volume - 5   Issue - 1    |    Publication Date - September 2014  Table of Contents
MORE INFORMATION
KEYWORDS
Direction Cosine Matrix, Complementary Filter, Inertial Navigation System, Odometric Localization.
ABSTRACT
The paper introduces the attitude estimation and compensation in odometric localization of a differential drive indoor mobile robot. A mobile robot navigates through an inclined indoor environment, wherein localization using only wheel encoder is erroneous. The robot uses inertial sensors such as gyroscope, accelerometer and magnetometer to calculate its attitude and acquires a three degree of rotational data. It is observed that the attitude update using gyroscopes alone are prone to diverge and hence error needs to be eliminated. The advantage of MEMS sensors is less-cost while complementary filter algorithm is low complexity in implementation. The performance of the proposed complementary filter algorithm for attitude estimation and compensation in odometric localization are shown by experiment and analysis of results.
1 Google Scholar 
2 CiteSeerX 
3 refSeek 
4 Scribd 
5 SlideShare 
6 PdfSR 
Angelino, C.V, Baraniello, V R Cicala,”UAV position and attitude estimation using IMU,GNSS and camera”, 15th International Conference on Information Fusion (FUSION), 2012,pp.735-742.
B. Barshan, Hugh F and Durrant-Whyte,” Inertial navigation systems for mobile robots”,IEEE Trans. Robotics and Automation, 1995 pp. 328-342.
C. C. Tsai, A localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements, Instrumentation and Measurement Technology Conference, IEEE,1998,pp. 144-149.
D. H. Titterton and J. L. Weston, Strapdown inertial navigation technology, Second Ed. The Institute of Electrical Engineers, United Kingdom (2004).
Di Li , Landry R, Lavoie, P.,”Low-cost MEMS sensor-based attitude determination system by integration of magnetometers and GPS: A real-data test and performance evaluation”,IEEE Position, Location and Navigation Symposium, 2008, pp. 1190 – 1198.
H.-S. Choi, O.-D. Park, and H.-S. Kim, “Autonomous mobile robot using GPS,” Int.Conference on Control & Automation, Budapest, Hungary, 2005.
J. Borenstein and L. Feng, Measurement and correction of systematic odometry errors in mobile robots, IEEE Trans. Robotics and Automation, 1996 pp. 869-880.
J. M. Choi, S. J. Lee and M. C. Won, Self-learning navigation algorithm for vision-based mobile robots using machine learning algorithms, Journal of Mechanical Science and Technology, 2011 pp. 247-254.
J. Vaganay, M. J. Aldon, and A. Fourinier, “Mobile robot attitude estimation by fusion of inertial data,” in IEEE Int. Conference on Robotics & Automation, Atlanta, 1993, pp. 277–282.
Jun Zhou, Bolandhemmat. H, “Integrated INS/GPS System for an Autonomous Mobile Vehicle”, International Conference on Mechatronics and Automation, ICMA 2007, pp. 694-699.
P. Lamon and R. Siegwart, “3d position tracking in challenging terrain,” The Int. Journal of Robotics Research, 2007.
Samadzadegan, F Abdi,” Autonomous navigation of Unmanned Aerial Vehicles based on multi-sensor data fusion”, 20th Iranian Conference on Electrical Engineering (ICEE), 2012,pp. 868 – 873.
T. T. Q. Bui and K. S. Hong, Sonar-based obstacle avoidance using region partition scheme, Journal of Mechanical Science and Technology, 2010, pp. 365-372.
Professor Jharna Majumdar
Dean R&D, Prof and Head, Department of CSE (PG) Nitte Meenakshi Institute of Technology Bangalore, 560064, India - India
Mr. Sandeep Kumar Malu
Research Associate, Centre for Robotics Research (R&D) Nitte Meenakshi Institute of Technology Bangalore, 560064, India - India
sandeepmalu77@gmail.com
Mr. Min Raj Nepali
Research Associate, Centre for Robotics Research (R&D) Nitte Meenakshi Institute of Technology Bangalore, 560064, India - India


CREATE AUTHOR ACCOUNT
 
LAUNCH YOUR SPECIAL ISSUE
View all special issues >>
 
PUBLICATION VIDEOS